Men, may I kindly ask you stop hijacking this thread please 🙏 Le lun. 30 nov. 2020 à 17:12, Jon Elson <el...@pico-systems.com> a écrit :
> On 11/30/2020 01:07 AM, Gene Heskett wrote: > > > > And this has an encoder generating good quadrature signals optically, on > > the back end of the motor, from which the encoder module will output > > both position in counts (for comparison to SCALE) and velocity. Can I > > use both signals in 2 pid's in series? I've seen that mentioned in some > > of the searched for links with the claim that its much more stable that > > way. > There's no need, and a lot of good reasons NOT to use two > PIDs. The PID component DOES have a pin to accept a > velocity input. I use this in my later PWM systems where > the PPMC driver does output a smoothed velocity. > > And this particular driver doesn't seem to have a usable > > current sense output. > Torque mode amps accept a command input and make the output > CURRENT match that. > If the servo amp is a VOLTAGE amp, then the tuning is a bit > different, but may actually be easier > than a torque mode system. That's what my PWM servo amps > do. You want to tune first with FF1, with P set quite low. > When error is reduced to a small amount with FF1 adjustment, > then turn up P. > > Jon > > > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
